From f2987df13797bb636dff59ab553dd1b951934789 Mon Sep 17 00:00:00 2001 From: pharmacomaniac Date: Wed, 9 Sep 2026 17:00:27 -0400 Subject: [PATCH] Reset car initialization flags with ForceOnroad Prevent stale flags from letting Panda apply the car's safety mode before card finishes initializing. --- system/manager/manager.py | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) mode change 100755 => 100644 system/manager/manager.py diff --git a/system/manager/manager.py b/system/manager/manager.py old mode 100755 new mode 100644 index b38009dcb7..80f34d4fda --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -1163,11 +1163,18 @@ def manager_thread() -> None: started = sm['deviceState'].started - if started and not started_prev and not starpilot_toggles.force_onroad: - params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION) + if started and not started_prev: + # ForceOnroad skips the normal onroad parameter reset. + if starpilot_toggles.force_onroad: + # These flags stay set after card exits. + # Clear them so pandad doesn't think card finished init on restart. + params.remove("ControlsReady") + params.remove("FirmwareQueryDone") + else: + params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION) - # StarPilot variables - params_memory.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION) + # StarPilot variables + params_memory.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION) elif not started and started_prev: params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)